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- Title
Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles.
- Authors
Liu, Fuqiang; Xu, Demin; Yu, Jin; Bai, Long
- Abstract
This article deals with fault isolation issue for the redundant thrusters of frame-structure unmanned underwater vehicles (UUVs). Consistency check is adopted to accomplish this task while solving the reformed control input equations that are produced after getting rid of some fault-free terms from the given equations. Specially selected column vectors from the given control matrix together with the corresponding hypothetical thrust output faults are taken as the known/unknown elements for these equations. Redundant relations among the thrusters support the vector selection, which are revealed by analyzing the maximally linearly independent vectors of the given control matrix. Simulation with faulty thrusters under redundancy in a frame-structure unmanned underwater vehicle illustrates the effectiveness of the proposed methodologies.
- Subjects
REMOTE submersibles; FRAMES (Combinatorial analysis); ACTUATOR design &; construction; SAFETY; FAULT-tolerant computing
- Publication
International Journal of Advanced Robotic Systems, 2018, Vol 15, Issue 2, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.1177/1729881418770876